Dependencies: BufferedSerial
Diff: main.cpp
- Revision:
- 4:6ebe8982de0e
- Parent:
- 3:0a718d139ed1
- Child:
- 5:5653e559a67b
--- a/main.cpp Wed Apr 24 16:00:07 2019 +0000
+++ b/main.cpp Mon May 06 17:15:52 2019 +0000
@@ -1,15 +1,44 @@
-// Coded by Luís Afonso 11-04-2019
+ // Coded by Luís Afonso 11-04-2019
#include "mbed.h"
#include "BufferedSerial.h"
#include "rplidar.h"
#include "Robot.h"
#include "Communication.h"
+#include "math.h"
+#include "ActiveCell.h"
+#include "HistogramCell.h"
+#define M_PI 3.14159265358979323846f
-Serial pc(SERIAL_TX, SERIAL_RX);
RPLidar lidar;
BufferedSerial se_lidar(PA_9, PA_10);
PwmOut rplidar_motor(D3);
+//EXERCICIO 1
+//Luis Cruz N2011164454
+//Jacek Sobecki N2018319609
+Serial pc(SERIAL_TX, SERIAL_RX, 115200);
+DigitalIn button(PC_13);
+void poseEst(float p[], float radius, float enc_res, float b);
+void SpeedLim(float w[]);
+void initializeArrays();
+void calcSectors(float theta);
+void sumForces();
+void updateActive(float xR, float yR,float theta);
+//int ReadSensors();
+//const int m = 200, n = 200, activeSize = 11;
+//histogram size | aSize active region size
+const int hSize = 80, aSize = 11;
+ActiveCell activeReg[aSize][aSize];
+HistogramCell histogram[hSize][hSize];
+//Repulsive force sums
+float p[3], p_obj[3], p_final[3], fX, fY;
+const float Fca=6;/*5*/
+
+//VFH
+const int L=2;
+float secVal[36];
+float smooth[36];
+
int main()
{
float odomX, odomY, odomTheta;
@@ -24,15 +53,463 @@
lidar.setAngle(0,360);
pc.printf("Program started.\n");
-
+
lidar.startThreadScan();
- while(1) {
+ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ /////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+ button.mode(PullUp);
+ getCountsAndReset();
+ setSpeeds(0, 0);
+ initializeArrays();
+ while(button==1);
+ rplidar_motor.write(0.7f);
+ //w[0] = Omega | w[1] = Left | w[2] = Right
+ //p[0] = X | p[1] = Y | p[2] = Theta
+ //p_obj[0] = X | p_obj[1] = Y | p_obj[2] = Theta
+ //b = Distance between wheels, enc_res = Encoder Resolution, v = Calculated speed
+ //k_v = Speed gain, k_s = Curvature gain, wratio = Angular speed ratio control command
+ //Cells dim: 5x5cm |
+ float w[3], v, theta, theta_error, err, integral = 0.0, k_i = 0.01/*0.02*/;
+ const float radius = 3.5, b = 13.3, enc_res = 1440, k_v = 8/*7*/,
+ k_s = 12/*10*/, sample_time = 0.05, d_stalker = 5, k_f = 12.5; /*12.5*/ //VFF
+ float theta_final;
+// ===============================================================================
+// =================================== COORDS ====================================
+// ===============================================================================
+ //Target coordinates
+ p_final[0] = 100, p_final[1] = 20, p_final[2] = 0;
+ //p_obj[0] = 20, p_obj[1] = 20, p_obj[2] = 0;
+ //Initial coordinates:
+ p[0] = 20, p[1] = 20, p[2] = 0;
+// ===============================================================================
+// =================================== EXECUTION =================================
+// ===============================================================================
+ while(1){
// poll for measurements. Returns -1 if no new measurements are available. returns 0 if found one.
if(lidar.pollSensorData(&data) == 0)
{
- pc.printf("%f\t%f\t%d\t%c\n", data.distance, data.angle, data.quality, data.startBit); // Prints one lidar measurement.
+ pc.printf("dist:%f angle:%f %d %c\n", data.distance, data.angle, data.quality, data.startBit); // Prints one lidar measurement.
+ }
+
+
+ getCountsAndReset();
+ //pc.printf("Speeds: Left=%lf Right=%lf\n", w[1], w[2]);
+ //pc.printf("OBJECTIVE X: %lf OBJECTIVE Y: %lf\n", p_obj[0], p_obj[1]);
+ //pc.printf("Position: X=%lf Y=%lf Theta=%lf\n\n", p[0], p[1], p[2]);
+ //pc.printf("Force (X): X=%lf Force(Y)=%lf\n", fX, fY);
+
+
+ //------------Process lidar readings
+ //theta of the robot in degrees
+ float thetaR_deg = 0;
+ //float thetaR_deg = (p[2]*180.0f)/M_PI;
+ if(thetaR_deg <0) thetaR_deg=360+thetaR_deg;
+ //real angle of the reading
+ if(data.angle<360 && data.angle>0) data.angle=360-data.angle;
+ float readAngle = data.angle - 180 + thetaR_deg;
+ if(readAngle>=360) readAngle=fmod(readAngle,360);
+
+ pc.printf("Robots_deg: %f data_deg: %f readAngle: %f\n",thetaR_deg,data.angle,readAngle);
+
+ //update cells according to a reading
+ if(data.distance!=0 && data.distance<200){
+ for(int i=0;i<11;i++){
+ for (int j = 0; j < 11; j++) {
+ if(readAngle<=activeReg[i][j].sectorK*10+5 && readAngle>=activeReg[i][j].sectorK*10-5){
+ if(data.distance<=((double)activeReg[i][j].distance+2.5)*10 && data.distance>=((double)activeReg[i][j].distance-2.5)*10) {
+ //cell is occupied
+ activeReg[i][j].cellVal = 3;
+ } else if (data.distance>((double)activeReg[i][j].distance-2.5)*10){
+ //cell is unoccupied
+ activeReg[i][j].cellVal = 1;
+ }
+ }
+ }
+ }
+ }
+
+ for (int j = 10; j >= 0; j--) {
+ for (int i = 0; i < 11; i++) {
+ cout << "[" << activeReg[i][j].cellVal << "]";
+ }
+ cout << endl;
+ }
+
+
+ //Path calculation
+ poseEst(p, radius, enc_res, b); //Pose estimation
+ theta_final = atan2(p_final[1]-p[1],p_final[0]-p[0]);
+ theta_final = atan2(sin(theta_final),cos(theta_final));
+ //updateActive(p[0], p[1], theta_final);
+ p_obj[0] = p[0]+k_f*fX; // add parameter to relate chosen direction (VFH) to the point nearby of the robot
+ p_obj[1] = p[1]+k_f*fY;
+ //Control Law
+ err = sqrt(pow((p_obj[0]-p[0]),2)+pow((p_obj[1]-p[1]),2)) - d_stalker; //distance to the point
+ theta = atan2(p_obj[1]-p[1],p_obj[0]-p[0]);
+ //pc.printf("theta MAIN: = %lf\n\n", theta);
+ theta = atan2(sin(theta),cos(theta));
+
+
+
+ p[2] = atan2(sin(p[2]),cos(p[2]));
+ theta_error = theta-p[2];
+ theta_error = atan2(sin(theta_error),cos(theta_error));
+ //pc.printf("theta_error = %lf | p[2]= %lf\n\n", theta_error, p[2]);
+ w[0] = k_s*(theta_error); //direction gain
+ integral += err;
+ v = k_v*err+k_i*integral; //Speed calculation
+ w[1] = (v-(b/2)*w[0])/radius;
+ w[2] = (v+(b/2)*w[0])/radius;
+
+ SpeedLim(w);
+ //if((fabs(p[0]-p_final[0])+fabs(p[1]-p_final[1])) < 70) k_i = -0.005;
+ if((fabs(p[0]-p_final[0])+fabs(p[1]-p_final[1])) < 5){
+ setSpeeds(0,0);
+ }
+ else{
+ //setSpeeds(w[1], w[2]);
+ }
+ wait(sample_time);
+ }
+}
+// ===============================================================================
+// =================================== FUNCTIONS =================================
+// ===============================================================================
+//Pose Estimation function
+void poseEst(float p[], float radius, float enc_res, float b){
+ float deltaDl, deltaDr, deltaD, deltaT;
+ deltaDl = ((float)countsLeft)*(2.0f*M_PI*radius/enc_res);
+ deltaDr = ((float)countsRight)*(2.0f*M_PI*radius/enc_res);
+ deltaD = (deltaDr + deltaDl)/2.0f;
+ deltaT = (deltaDr - deltaDl)/b;
+ if(fabs(deltaT) == 0){
+ p[0] = p[0] + deltaD*cos(p[2]) + deltaT/2;
+ p[1] = p[1] + deltaD*sin(p[2]) + deltaT/2;
+ return;
+ }
+ p[0] = p[0] + deltaD*(sin(deltaT/2.0f)/(deltaT/2.0f))*cos(p[2]+deltaT/2.0f);
+ p[1] = p[1] + deltaD*(sin(deltaT/2.0f)/(deltaT/2.0f))*sin(p[2]+deltaT/2.0f);
+ p[2] = p[2] + deltaT;
+}
+//Speed limiter function
+void SpeedLim(float w[]){
+ float wratio;
+ wratio = fabs(w[2]/w[1]);
+ if(w[2] > 150 || w[1] > 150){
+ if(wratio < 1){
+ w[1] = 150;
+ w[2] = w[1]*wratio;
+ }
+ else if(wratio > 1){
+ w[2] = 150;
+ w[1] = w[2]/wratio;
+ }
+ else{
+ w[2] = 150;
+ w[1] = 150;
+ }
+ }
+ if(w[2] < 50 || w[1] < 50){
+ if(wratio < 1){
+ w[1] = 50;
+ w[2] = w[1]*wratio;
+ }
+ else if(wratio > 1){
+ w[2] = 50;
+ w[1] = w[2]/wratio;
+ }
+ else{
+ w[2] = 50;
+ w[1] = 50;
+ }
+ }
+}
+
+void initializeArrays() {
+ for (int i = 0; i < hSize; i++) {
+ for (int j = 0; j < hSize; j++) {
+ histogram[i][j].calculate(i, j);
+ //if(((i >= 8 && i <= 12) && (j == 0 || j == 8)) || ((i == 8 || i == 12) && (j >= 0 && j <= 8))) histogram[i][j].cellVal=3;
+ //if(((i >= 0 && i <= 3) && (j == 8 || j == 12)) || ((i == 0 || i == 3) && (j >= 8 && j <= 12))) histogram[i][j].cellVal=3;
+ //if(((i >= 14 && i <= 20) && (j == 8 || j == 9)) || ((i == 14 || i == 20) && (j >= 8 && j <= 9))) histogram[i][j].cellVal=3;
+ }
+ }
+ for (int i = 0; i < aSize; i++) {
+ for (int j = 0; j < aSize; j++) {
+ activeReg[i][j].calDist(i, j);
+ }
+ }
+}
+
+//every time robot changes position we need to call this function to update active region and calculate forces
+//xR, yR - robots position in coordinates system
+void updateActive(float xR, float yR,float theta) {
+ int idXr = 0;
+ int idYr = 0;
+ for (int i = 0; i < hSize; i++) {
+ for (int j = 0; j < hSize; j++) {
+ if (xR > histogram[i][j].x - 2.5 && xR < histogram[i][j].x + 2.5 && yR > histogram[i][j].y - 2.5 &&
+ yR < histogram[i][j].y + 2.5) {
+ idXr = i;
+ idYr = j;
+ break;
+ }
+ }
+ }
+ int m = idXr - aSize / 2;
+ for (int k = 0; k < aSize; k++) {
+ int n = idYr - aSize / 2;
+ for (int l = 0; l < aSize; l++) {
+ if (m >= 0 && n >= 0 && m < hSize && n < hSize) {
+ histogram[m][n].cellVal=activeReg[k][l].cellVal;
+ }
+ n++;
+ }
+ m++;
+ }
+ for (int i = 0; i < aSize; ++i) {
+ for (int j = 0; j < aSize; ++j) {
+ activeReg[i][j].calForce();
+ }
+ }
+ activeReg[5][5].amplitude=0;
+ activeReg[5][5].amplitude=0;
+
+ for (int j = 10; j >= 0; j--) {
+ for (int i = 0; i < 11; i++) {
+ cout << "[" << activeReg[i][j].cellVal << "]";
+ }
+ cout << endl;
+ }
+
+ calcSectors(theta);
+}
+void calcSectors(float theta){
+ for (int k = 0; k < 36; ++k) {
+ secVal[k]=0;
+ for (int i = 0; i < aSize; ++i) {
+ for (int j = 0; j < aSize; ++j) {
+ if(activeReg[i][j].sectorK==k)
+ secVal[k]+=activeReg[i][j].amplitude;
+ }
}
- wait(0.01);
+ }
+
+ smooth[0]=(secVal[34]+2*secVal[35]+2*secVal[0]+2*secVal[1]+secVal[2])/5;
+ smooth[1]=(secVal[35]+2*secVal[0]+2*secVal[1]+2*secVal[2]+secVal[3])/5;
+ smooth[34]=(secVal[32]+2*secVal[33]+2*secVal[34]+2*secVal[35]+secVal[0])/5;
+ smooth[35]=(secVal[33]+2*secVal[34]+2*secVal[35]+2*secVal[0]+secVal[1])/5;
+ for (int i = 2; i < 34; ++i) {
+ smooth[i]=(secVal[i-L]+2*secVal[i-L+1]+2*secVal[i]+2*secVal[i+L-1]+secVal[i+L])/5;
+ }
+
+ const int thresh=200;//100
+ int temp[36];
+ int counter = 0, aux = 0;
+ int valley[36];
+ for(int i=0;i<36;++i){
+ //pc.printf("|%lf", smooth[i]);
+ if(smooth[i]<thresh){
+ temp[i]=1;
+ //valley[aux][aux] =
+ counter++;
+ }
+ else{
+ valley[aux] = counter;
+ counter = 0;
+ aux++;
+ temp[i]=0;
+ //pc.printf("#%d", i);
+ }
+
+ }
+ float best=999;
+ float theta_deg;
+ theta_deg =(theta*180.0f)/M_PI;
+ //pc.printf("theta (degrees): = %lf\n\n", theta_deg);
+ int destSec = theta_deg / 10;
+ if(destSec<0) destSec=36+destSec;
+ //cout<<"destination sector: "<<destSec<<endl;
+
+ int L=destSec;
+ int R=destSec;
+ while(temp[L]==0){
+ L--;
+ if(L<0) L=35;
+ }
+ while(temp[R]==0){
+ R++;
+ if(R>35) R=0;
}
-}
\ No newline at end of file
+
+ float dirSet, dirC,dirL,dirR;
+ if(temp[destSec]==1){
+ int k=destSec-1;
+ if(k<0) k=35;
+ int size=1;
+ while(temp[k]==1){
+ size++;
+ k--;
+ if(k<0) k=35;
+ if(k==destSec) break;
+ if(size>=5) break;
+ }
+ int right=k+1;
+ if(right<0) right=35;
+ k=destSec+1;
+ if(k>35) k=0;
+ while(temp[k]==1){
+ size++;
+ k++;
+ if(k>35) k=0;
+ if(k==destSec) break;
+ if(size>=5) break;
+ }
+ int left=k-1;
+ if(left>35) left=0;
+ if(size>=5) {
+ //wide
+ dirC=destSec*10;
+ //cout << "wide"<<endl;
+ }
+
+ else if(size>4 && size<5) //narrow
+ {
+ dirC=0.5*(left*10+right*10);
+ //cout<<"narrow"<<endl;
+ } else {
+ int secL = L;
+ while (temp[secL] != 1) {
+ secL++;
+ if (secL > 35) secL = 0;
+ }
+ int rightL = secL;
+ int size = 1;
+
+ int i = secL + 1;
+ if (i > 35) i = 0;
+ while (temp[i] == 1) {
+ size++;
+ i++;
+ if (i > 35) i = 0;
+ if (i == secL) break;
+ // Smax here
+ if (size >= 5) break;
+ }
+ int leftL = i - 1;
+ if (leftL < 0) leftL = 35;
+ if (size >= 5) //wide
+ dirL = rightL * 10 + 0.5 * 10 * 5;
+ else if(size>4 && size<5) //narrow
+ dirL = 0.5 * (leftL * 10 + rightL * 10);
+ else
+ dirL=9999;
+ ///////////////////////////////////////////////////////////////////
+ int secR = R;
+ while (temp[secR] != 1) {
+ secR--;
+ if (secR < 0) secR = 35;
+ }
+
+ int leftR = secR;
+ int sizeR = 1;
+
+ int j = secR - 1;
+ if (j < 0) j = 35;
+ while (temp[j] == 1) {
+ sizeR++;
+ j--;
+ if (j < 0) j = 35;
+ if (j == secR) break;
+ if (sizeR >= 5) break;
+ }
+ int rightR = j + 1;
+ if (rightR > 35) rightR = 0;
+ if (sizeR >= 5) //wide
+ dirR = leftR * 10 + 0.5 * 10 * 5;
+ else if(sizeR>4 && sizeR<5)//narrow
+ dirR = 0.5 * (rightR * 10 + leftR * 10);
+ else
+ dirR=9999;
+
+ if(dirL>360) dirL=fabs(dirL-360);
+ if(dirR>360) dirR=fabs(dirR-360);
+ if(fabs(theta_deg-dirL)>fabs(theta_deg-dirR))
+ dirC=dirR;
+ else
+ dirC=dirL;
+ }
+ dirSet=dirC;
+ //cout<<"dirSet: 1"<<endl;
+
+ ///////////////////////////////////////////////////////////
+ } else {
+ int secL = destSec;
+ while (temp[secL] != 1) {
+ secL++;
+ if (secL > 35) secL = 0;
+ }
+ int rightL = secL;
+ int size = 1;
+
+ int i = secL + 1;
+ if (i > 35) i = 0;
+ while (temp[i] == 1) {
+ size++;
+ i++;
+ if (i > 35) i = 0;
+ if (i == secL) break;
+ // Smax here
+ if (size >= 5) break;
+ }
+ int leftL = i - 1;
+ if (leftL < 0) leftL = 35;
+ if (size >= 5) //wide
+ dirL = rightL * 10 + 0.5 * 10 * 5;
+ else if(size>4 && size<5) //narrow
+ dirL = 0.5 * (leftL * 10 + rightL * 10);
+ else
+ dirL=9999;
+ ///////////////////////////////////////////////////////////////////
+ int secR = destSec;
+ while (temp[secR] != 1) {
+ secR--;
+ if (secR < 0) secR = 35;
+ }
+
+ int leftR = secR;
+ int sizeR = 1;
+
+ int j = secR - 1;
+ if (j < 0) j = 35;
+ while (temp[j] == 1) {
+ sizeR++;
+ j--;
+ if (j < 0) j = 35;
+ if (j == secR) break;
+ if (sizeR >= 5) break;
+ }
+ int rightR = j + 1;
+ if (rightR > 35) rightR = 0;
+ if (sizeR >= 5) //wide
+ dirR = leftR * 10 + 0.5 * 10 * 5;
+ else if(sizeR>4 && sizeR<5)//narrow
+ dirR = 0.5 * (rightR * 10 + leftR * 10);
+ else
+ dirR=9999;
+
+ if(dirL>360) dirL=fabs(dirL-360);
+ if(dirR>360) dirR=fabs(dirR-360);
+ if(fabs(theta_deg-dirL)>fabs(theta_deg-dirR))
+ dirSet=dirR;
+ else
+ dirSet=dirL;
+ //cout<<"dirSet:2 dirR: "<<dirR<<" dirL: "<<dirL<<endl;
+ }
+ //cout<<"dirSet: "<<dirSet<<endl;
+
+ fX=cos(dirSet*M_PI/180.0f);
+ fY=sin(dirSet*M_PI/180.0f);
+
+}